Methods and apparatus for inspecting an engine

ABSTRACT

A computer-implemented method comprising: receiving data comprising two-dimensional data and three-dimensional data of a component of an engine; identifying a feature of the component using the two-dimensional data;determining coordinates of the feature in the two-dimensional data; determining coordinates of the feature in the three-dimensional data using: the determined coordinates of the feature in the two-dimensional data; and a pre-determined transformation between coordinates in two-dimensional data and coordinates in three-dimensional data; and measuring a parameter of the feature of the component using the determined coordinates of the feature in the three-dimensional data.

CROSS-REFERENCE TO RELATED APPLICATIONS

This specification is based upon and claims the benefit of priority fromUK Patent Application Number 1918095.9 filed on 10 Dec. 2019, the entirecontents of which are incorporated herein by reference.

TECHNOLOGICAL FIELD

The present disclosure concerns methods and apparatus for inspecting anengine.

BACKGROUND

Aircraft typically comprise one or more engines for providing propulsivethrust and/or electrical energy to the aircraft. During operation, theone or more engines may become damaged (for example, due to relativelyhigh operating temperatures or due to foreign object damage). Aircraftengines are usually inspected at regular intervals by a human inspectorto determine the condition of components within the engine. Wherecomponents are found to be in an unacceptable condition, the engine isusually removed from the aircraft for repair. During such inspections,the aircraft is grounded and is not available for operation by theairline. Additionally, the quality and duration of the inspection isdependent upon the skill and experience of the inspector.

BRIEF SUMMARY

According to a first aspect there is provided a computer-implementedmethod comprising: receiving data comprising two-dimensional data andthree-dimensional data of a component of an engine; identifying afeature of the component using the two-dimensional data; determiningcoordinates of the feature in the two-dimensional data; determiningcoordinates of the feature in the three-dimensional data using: thedetermined coordinates of the feature in the two-dimensional data; and apre-determined transformation between coordinates in two-dimensionaldata and coordinates in three-dimensional data; and measuring aparameter of the feature of the component using the determinedcoordinates of the feature in the three-dimensional data.

Prior to identifying the feature of the component, the method mayfurther comprise: identifying the feature of the component using thethree-dimensional data; determining coordinates in the three-dimensionaldata of a first volume bounding the coordinates of the feature;determining coordinates of a first area in the two-dimensional datacorresponding to the first volume using: the determined coordinates ofthe first volume in the three-dimensional data; and the predeterminedtransformation.

Identifying the feature of the component using the two-dimensional datamay comprise using a subset of the two-dimensional data corresponding tothe first area.

Determining coordinates in the three-dimensional data of the firstvolume may comprise: identifying the first volume in thethree-dimensional data using: the identified feature of the component;and a three-dimensional model of the component.

Prior to identifying the feature of the component using thethree-dimensional data, the method may further comprise: identifying asecond area using the two-dimensional data of the component, the secondarea excluding predetermined components and/or predeterminedsub-components of the engine within the two-dimensional data;determining coordinates of a second volume in the three-dimensional datacorresponding to the second area using: the determined coordinates ofthe second area in the two-dimensional data; and the predeterminedtransformation.

Identifying the feature of the component using the three-dimensionaldata may comprise: identifying the feature of the component using asubset of the three-dimensional data corresponding to the second volume.

The computer-implemented method may further comprise: controllingstorage of the measured parameter.

The engine may be associated with an aircraft, and the data may begenerated during a first period of time in which the aircraft is notreleased for operation.

The computer-implemented method may be performed during a second periodof time in which the aircraft is released for operation.

The computer-implemented method may be performed automatically inresponse to receiving the data.

The computer-implemented method may be performed without humanintervention.

According to a second aspect there is provided a computer program that,when executed by a computer, causes the computer to perform thecomputer-implemented method as described in any of the precedingparagraphs.

According to a third aspect there is provided a non-transitory computerreadable storage medium comprising computer readable instructions that,when executed by a computer, causes the computer to perform thecomputer-implemented method as described in any of the precedingparagraphs.

According to a fourth aspect there is provided an apparatus comprising:a controller configured to perform the computer-implemented method asdescribed in any of the preceding paragraphs.

According to a fifth aspect there is provided a method comprising:inspecting an engine during a first period of time to identify damage,the engine being associated with an aircraft; receivingthree-dimensional data of one or more components of the engine, thethree-dimensional data being generated during the first period of time;determining, during the first period of time, whether the identifieddamage exceeds a threshold; providing instructions to release theaircraft for operation in a second period of time, subsequent to thefirst period of time, if the identified damage does not exceed thethreshold; and inspecting the received three-dimensional data during thesecond period of time to measure damage.

Inspecting the received three-dimensional data comprises: identifying afeature of the component using the three-dimensional data; determiningcoordinates of the feature in the three-dimensional data; and measuringa parameter of the feature of the component using the determinedcoordinates of the feature in the three-dimensional data.

The method may further comprise: receiving data comprisingtwo-dimensional data of the component of the engine, the two-dimensionaldata being generated during the first period of time; and whereininspecting the received three-dimensional data comprises: identifying afeature of the component using the two-dimensional data; determiningcoordinates of the feature in the two-dimensional data; determiningcoordinates of the feature in the three-dimensional data using: thedetermined coordinates of the feature in the two-dimensional data; and apre-determined transformation between coordinates in two-dimensionaldata and coordinates in three-dimensional data; and measuring aparameter of the feature of the component using the determinedcoordinates of the feature in the three-dimensional data.

Prior to identifying the feature of the component using thetwo-dimensional data, the method may further comprise: identifying thefeature of the component using the three-dimensional data; determiningcoordinates in the three-dimensional data of a first volume bounding thecoordinates of the feature; determining coordinates of a first area inthe two-dimensional data corresponding to the first volume using: thedetermined coordinates of the first volume in the three-dimensionaldata; and the predetermined transformation.

Identifying the feature of the component using the two-dimensional datamay comprise using a subset of the two-dimensional data corresponding tothe first area.

Determining coordinates in the three-dimensional data of the firstvolume may comprise: identifying the first volume in thethree-dimensional data using: the identified feature of the component;and a three-dimensional model of the component.

Prior to identifying the feature of the component using thethree-dimensional data, the method may further comprise: identifying asecond area using the two-dimensional data of the component, the secondarea excluding predetermined components and/or predeterminedsub-components of the engine within the two-dimensional data;determining coordinates of a second volume in the three-dimensional datacorresponding to the second area using: the determined coordinates ofthe second area in the two-dimensional data; and the predeterminedtransformation.

Identifying the feature of the component using the three-dimensionaldata may comprise: identifying the feature of the component using asubset of the three-dimensional data corresponding to the second volume.

The method may further comprise: controlling storage of the measuredparameter.

Inspecting the received three-dimensional data during the second periodof time may be performed by a computer.

Inspecting the received three-dimensional data during the second periodof time may be performed automatically by the computer in response toreceiving the three-dimensional data.

Inspecting the received three-dimensional data may be performed during apredetermined period of time from release of the aircraft for operation.

According to a sixth aspect there is provided a computer program that,when executed by a computer, causes the computer to perform the methodas described in any of the preceding paragraphs.

According to a seventh aspect there is provided a non-transitorycomputer readable storage medium comprising computer readableinstructions that, when executed by a computer, causes the computer toperform the method as described in any of the preceding paragraphs.

According to an eighth aspect there is provided an apparatus comprising:a controller configured to perform the method as described in any of thepreceding paragraphs.

According to a ninth aspect there is provided a method comprising:inspecting an industrial system during a first period of time toidentify damage; receiving three-dimensional data of one or morecomponents of the industrial system, the three-dimensional data beinggenerated during the first period of time; determining, during the firstperiod of time, whether the identified damage exceeds a threshold;providing instructions to enable operation of the industrial system in asecond period of time, subsequent to the first period of time, if theidentified damage does not exceed the threshold; and inspecting thereceived three-dimensional data during the second period of time tomeasure damage.

According to a tenth aspect there is provided a method comprising:inspecting an engine during a first period of time to identify damage,the engine being associated with an aircraft; receiving two-dimensionaldata of one or more components of the engine, the two-dimensional databeing generated during the first period of time; determining, during thefirst period of time, whether the identified damage exceeds a threshold;providing instructions to release the aircraft for operation in a secondperiod of time, subsequent to the first period of time, if theidentified damage does not exceed the threshold; and inspecting thereceived two-dimensional data during the second period of time tomeasure damage.

According to an eleventh aspect there is provided a method comprising:inspecting an industrial system (for example, an engine) during a firstperiod of time to identify damage (the engine may, or may not beassociated with an aircraft); receiving data of one or more componentsof the industrial system, the data being generated during the firstperiod of time; determining, during the first period of time, whetherthe identified damage exceeds a threshold; providing instructions toenable operation of the industrial system in a second period of time,subsequent to the first period of time, if the identified damage doesnot exceed the threshold; and inspecting the received data during thesecond period of time to measure damage.

The skilled person will appreciate that except where mutually exclusive,a feature described in relation to any one of the above aspects may beapplied mutatis mutandis to any other aspect. Furthermore, except wheremutually exclusive any feature described herein may be applied to anyaspect and/or combined with any other feature described herein.

BRIEF DESCRIPTION

Embodiments will now be described by way of example only, with referenceto the Figures, in which:

FIG. 1 illustrates a schematic diagram of an apparatus for inspection ofan engine according to various examples;

FIG. 2 illustrates a cross sectional side view of a gas turbine engineaccording to various examples;

FIG. 3 illustrates a close-up sectional side view of an upstream portionof the gas turbine engine illustrated in FIG. 2;

FIG. 4 illustrates a partially cut-away view of the gearbox of the gasturbine engine illustrated in FIGS. 2 and 3;

FIG. 5 illustrates a flow diagram of a first method of inspecting anengine;

FIG. 6 illustrates a time line diagram of the first method of inspectingan engine;

FIG. 7 illustrates a time line diagram of a second method of inspectingan engine;

FIG. 8 illustrates a flow diagram of a third method of inspecting anengine;

FIG. 9 illustrates a side view of a turbine blade according to a firstexample;

FIG. 10 illustrates a side view of a turbine blade according to a secondexample;

FIG. 11 illustrates a side view of a turbine blade according to a thirdexample;

FIG. 12 illustrates a flow diagram of a fourth method of inspecting anengine;

FIG. 13 illustrates a flow diagram of a fifth method of inspecting anengine; and

FIG. 14 illustrates a flow diagram of a sixth method of inspecting anengine.

DETAILED DESCRIPTION

In the following description, the terms ‘connected’ and ‘coupled’ meanoperationally connected and coupled. It should be appreciated that theremay be any number of intervening components between the mentionedfeatures, including no intervening components.

FIG. 1 illustrates a schematic diagram of an apparatus 10 for inspectingan engine 12 according to various examples. The apparatus 10 includes: acontroller 14; a user input device 16; a display 18; and an inspectiondevice 20 comprising a sensor 22.

In some examples, the apparatus 10 may be a module. As used herein, thewording ‘module’ refers to a device or apparatus where one or morefeatures are included at a later time and, possibly, by anothermanufacturer or by an end user. For example, where the apparatus 10 is amodule, the apparatus 10 may only include the controller 14, and theremaining features (such as the user input device 16, the display 18,the inspection device 20 and the sensor 22) may be added by anothermanufacturer, or by an end user.

The controller 14, the user input device 16, the display 18, theinspection device 20 and the sensor 22 may be coupled to one another viaa wireless link and may consequently comprise transceiver circuitry andone or more antennas. Additionally, or alternatively, the controller 14,the user input device 16, the display 18, the inspection device 20 andthe sensor 22 may be coupled to one another via a wired link and mayconsequently comprise interface circuitry (such as a Universal SerialBus (USB) plugs and sockets).

The controller 14 may comprise any suitable circuitry to causeperformance of the methods described herein and as illustrated in FIGS.5, 8, 12, 13 and 14. The controller 14 may comprise: control circuitry;and/or processor circuitry; and/or at least one application specificintegrated circuit (ASIC); and/or at least one field programmable gatearray (FPGA); and/or single or multi-processor architectures; and/orsequential/parallel architectures; and/or at least one programmablelogic controllers (PLCs); and/or at least one microprocessor; and/or atleast one microcontroller; and/or a central processing unit (CPU);and/or a graphics processing unit (GPU), to perform the methods.

In various examples, the controller 14 may comprise at least oneprocessor 24 and at least one memory 26. The memory 26 stores a computerprogram 28 comprising computer readable instructions that, when read bythe processor 24, causes performance of the methods described herein,and as illustrated in FIGS. 5, 8, 12, 13 and 14. The computer program 28may be software or firmware, or may be a combination of software andfirmware.

The controller 14 may be part of the inspection device 20, an ‘edge’computer or a remote computer (such as a high-performance computingcluster in the ‘cloud’). Alternatively, the controller 14 may bedistributed between a plurality of devices and locations. For example,the controller 14 may be distributed between the inspection device 20and an ‘edge’ computer or may be distributed between the inspectiondevice 20 and a high-performance computing cluster in the ‘cloud’.

The processor 24 may include at least one microprocessor and maycomprise a single core processor, may comprise multiple processor cores(such as a dual core processor or a quad core processor), or maycomprise a plurality of processors (at least one of which may comprisemultiple processor cores).

The memory 26 may be any suitable non-transitory computer readablestorage medium, data storage device or devices, and may comprise a harddisk and/or solid-state memory (such as flash memory). The memory may bepermanent non-removable memory or may be removable memory (such as auniversal serial bus (USB) flash drive or a secure digital card). Thememory may include: local memory employed during actual execution of thecomputer program; bulk storage; and cache memories which providetemporary storage of at least some computer readable or computer usableprogram code to reduce the number of times code may be retrieved frombulk storage during execution of the code.

The computer program 28 may be stored on a non-transitory computerreadable storage medium 30. The computer program 28 may be transferredfrom the non-transitory computer readable storage medium 30 to thememory 26. The non-transitory computer readable storage medium 30 maybe, for example, a USB flash drive, an external hard disk drive, anexternal solid-state drive, a secure digital (SD) card, an optical disc(such as a compact disc (CD), a digital versatile disc (DVD) or aBlu-ray disc). In some examples, the computer program 28 may betransferred to the memory 26 via a signal 32 (which may be a wirelesssignal or a wired signal).

Input/output devices may be coupled to the controller 14 either directlyor through intervening input/output controllers. Various communicationadaptors may also be coupled to the controller 14 to enable theapparatus 10 to become coupled to other apparatus or remote printers orstorage devices through intervening private or public networks.Non-limiting examples include modems and network adaptors of suchcommunication adaptors.

The user input device 16 may comprise any suitable device or devices forenabling a user to at least partially control the apparatus 10. Forexample, the user input device 16 may comprise one or more of akeyboard, a keypad, a touchpad, a touchscreen display, and a computermouse. The user input device 16 may be part of, or a peripheral of, theinspection device 20, an ‘edge’ computer or a remote computer (forexample, a computer in the ‘cloud’ which is located in another city orcountry). The controller 14 is configured to receive signals from theuser input device 16.

The display 18 may be any suitable display for conveying information toan operator. For example, the display 18 may be a liquid crystaldisplay, a light emitting diode display, an active matrix organic lightemitting diode display, or a thin film transistor display, or a cathoderay tube display. The display 18 may be part of, or a peripheral of, theinspection device 20, an ‘edge’ computer, or a remote computer (forexample, a computer in the ‘cloud’ which is located in another city orcountry). The controller 14 is arranged to provide a signal to thedisplay 18 to cause the display 18 to convey information to the user.

The inspection device 20 may be separate to the engine 12 and may beinserted into the engine 12 to inspect the engine 12. For example, theinspection device 20 may be a borescope comprising a flexible tube (suchas a snake arm), where the sensor 22 is mounted at one end of theflexible tube, and the display 18 is mounted at the opposite end of theflexible tube. Alternatively, the inspection device 20 may be embeddedwithin the engine 12 and positioned to inspect the engine 12 at one ormore locations. The controller 14 may be configured to control theoperation of the inspection device 20. For example, where the inspectiondevice 20 is a robot, the controller 14 may be configured to control theposition and pose of the inspection device 20 within the engine 12.

The sensor 22 is configured to generate three-dimensional data and maycomprise a structured-light three-dimensional scanner, stereo cameras orany other suitable apparatus. The sensor 22 may also be configured togenerate two-dimensional data and may comprise a camera (for example, acharge-coupled device (CCD) or a complementary metal-oxide-semiconductor(CMOS)).

Consequently, in some examples, the sensor 22 may comprise astructured-light three-dimensional scanner for generatingthree-dimensional data, and a camera for generating two-dimensionaldata.

Where the sensor 22 comprises a three-dimensional scanner (such as astructured light sensor) and a camera, the memory 26 also stores atransformation algorithm 29 that enables conversion between coordinatesin the two-dimensional data generated by the camera, and coordinates inthe three-dimensional data generated by the three-dimensional scanner.For example, a transformation algorithm 29 may be generated by thecontroller 14 for each image and point cloud that is received by thecontroller 14 (using triangulation and calibration parameters) and whichenables conversion between a pixel location in the image file (such as a.jpg, .bmp or .raw file for example) and a point location in the pointcloud data (such as a .csv file for example).

The engine 12 is associated with an aircraft 34 and is configured togenerate propulsive thrust and/or electrical energy for the aircraft 34.For example, the engine 12 may be a gas turbine engine such as a gearedturbofan engine (as illustrated in FIGS. 2, 3 and 4) or a ‘direct-drive’turbofan engine (where a turbine is directly connected to a fan).Alternatively, the engine 12 may be a reciprocating engine, or anelectrical motor. In some examples, the engine 12 may be systemcomprising a gas turbine engine or a reciprocating engine, and anelectrical generator. In such a system, the output of the gas turbineengine or the reciprocating engine is connected to the electricalgenerator.

The engine 12 may be ‘associated’ with the aircraft 34 by being mountedon the aircraft 34 (usually referred to as ‘on-wing’). For example, theengine 12 may be mounted in or under a wing of the aircraft 34 or may bemounted within or on the fuselage of the aircraft 34. Alternatively, theengine 12 may not be coupled to the aircraft 34, but may be located atthe same airport or repair facility as the aircraft 34 (usually referredto as ‘near-wing’).

FIG. 2 illustrates an example of a gas turbine engine 12 having aprincipal rotational axis 35 and comprising an air intake 36 and apropulsive fan 38 that generates two airflows: a core airflow A and abypass airflow B. The gas turbine engine 12 comprises a core 40 thatreceives the core airflow A. The engine core 40 comprises, in axial flowseries, a low-pressure compressor 42, a high-pressure compressor 44,combustion equipment 46, a high-pressure turbine 48, a low-pressureturbine 50 and a core exhaust nozzle 52. A nacelle 54 surrounds the gasturbine engine 12 and defines a bypass duct 56 and a bypass exhaustnozzle 58. The bypass airflow B flows through the bypass duct 56. Thefan 38 is attached to and driven by the low-pressure turbine 50 via ashaft 60 and an epicyclic gearbox 62.

In use, the core airflow A is accelerated and compressed by thelow-pressure compressor 42 and directed into the high-pressurecompressor 44 where further compression takes place. The compressed airexhausted from the high-pressure compressor 44 is directed into thecombustion equipment 46 where it is mixed with fuel and the mixture iscombusted. The resultant hot combustion products then expand through,and thereby drive, the high-pressure and low-pressure turbines 48, 50before being exhausted through the nozzle 52 to provide some propulsivethrust. The high-pressure turbine 48 drives the high-pressure compressor44 by a suitable interconnecting shaft 64. The fan 38 generally providesthe majority of the propulsive thrust. The epicyclic gearbox 62 is areduction gearbox.

An exemplary arrangement for a geared fan gas turbine engine 12 is shownin FIG. 3. The low-pressure turbine 50 (please see FIG. 1) drives theshaft 60, which is coupled to a sun wheel, or sun gear 66 of theepicyclic gear arrangement 62. Radially outwardly of the sun gear 66 andintermeshing therewith is a plurality of planet gears 68 that arecoupled together by a planet carrier 70. The planet carrier 70constrains the planet gears 68 to precess around the sun gear 66 insynchronicity whilst enabling each planet gear 68 to rotate about itsown axis. The planet carrier 70 is coupled via linkages 72 to the fan 38in order to drive its rotation about the engine axis 35. Radiallyoutwardly of the planet gears 68 and intermeshing therewith is anannulus or ring gear 74 that is coupled, via linkages 76, to astationary supporting structure 78.

Note that the terms “low-pressure turbine” and “low-pressure compressor”as used herein may be taken to mean the lowest pressure turbine stagesand lowest pressure compressor stages (i.e. not including the fan 38)respectively and/or the turbine and compressor stages that are connectedtogether by the interconnecting shaft 60 with the lowest rotationalspeed in the engine 12 (i.e. not including the gearbox output shaft thatdrives the fan 38). In some literature, the “low-pressure turbine” and“low-pressure compressor” referred to herein may alternatively be knownas the “intermediate-pressure turbine” and “intermediate-pressurecompressor”. Where such alternative nomenclature is used, the fan 38 maybe referred to as a first, or lowest pressure, compression stage.

The epicyclic gearbox 62 is shown by way of example in greater detail inFIG. 4. Each of the sun gear 66, planet gears 68 and ring gear 74comprise teeth about their periphery to intermesh with the other gears.However, for clarity only exemplary portions of the teeth areillustrated in FIG. 4. There are four planet gears 68 illustrated,although it will be apparent to the skilled reader that more or fewerplanet gears 68 may be provided. Practical applications of a planetaryepicyclic gearbox 62 generally comprise at least three planet gears 68.

The epicyclic gearbox 62 illustrated by way of example in FIGS. 3 and 4is of the planetary type, in that the planet carrier 70 is coupled to anoutput shaft via linkages 72, with the ring gear 74 fixed. However, anyother suitable type of epicyclic gearbox 62 may be used. By way offurther example, the epicyclic gearbox 62 may be a star arrangement, inwhich the planet carrier 70 is held fixed, with the ring (or annulus)gear 74 allowed to rotate. In such an arrangement the fan 38 is drivenby the ring gear 74. By way of further alternative example, the gearbox62 may be a differential gearbox in which the ring gear 74 and theplanet carrier 70 are both allowed to rotate.

It will be appreciated that the arrangement shown in FIGS. 3 and 4 is byway of example only, and various alternatives are within the scope ofthe present disclosure. Purely by way of example, any suitablearrangement may be used for locating the gearbox 62 in the engine 12and/or for connecting the gearbox 62 to the engine 12. By way of furtherexample, the connections (such as the linkages 72, 76 in the FIG. 3example) between the gearbox 62 and other parts of the engine 12 (suchas the input shaft 60, the output shaft and the fixed structure 78) mayhave any desired degree of stiffness or flexibility. By way of furtherexample, any suitable arrangement of the bearings between rotating andstationary parts of the engine (for example between the input and outputshafts from the gearbox and the fixed structures, such as the gearboxcasing) may be used, and the disclosure is not limited to the exemplaryarrangement of FIG. 3. For example, where the gearbox 62 has a stararrangement (described above), the skilled person would readilyunderstand that the arrangement of output and support linkages andbearing locations would typically be different to that shown by way ofexample in FIG. 3.

FIG. 5 illustrates a first method of inspecting the engine 12 accordingto various examples.

At block 80, the method includes inspecting the engine 12 during a firstperiod of time to identify damage. In some examples, a human inspectormay be at the same location as the engine 12 and may use a borescope(which may be the inspection device 20, or may be a separate borescope)to inspect the components of the engine 12. For example, a humaninspector may use a borescope to inspect turbine blades of thehigh-pressure turbine 48 and/or the low-pressure turbine 50 of the gasturbine engine 12 illustrated in FIG. 2 to identify damage.

As used herein, ‘damage’ includes any change to one or more componentsof the engine 12 that degrades the one or more components from theirinitial state, and which may adversely affect the current or futureperformance of the one or more components. Consequently, ‘damage’includes, but is not limited to: loss of material from a component;changes to the shape of a component; and changes to the dimensions of acomponent.

It should be appreciated that the ‘first period of time’ is a period oftime in which the engine 12 may be inspected ‘on-wing’ or ‘near-wing’.The aircraft 34 is not operational during the first period of time andis not cleared for flight by the control tower of the airport or repairfacility.

At block 82, the method includes receiving three-dimensional data of oneor more components of the engine 12. In some examples, the inspectiondevice 20 may be inserted into the engine 12 and the controller 14 mayreceive three-dimensional data of one or more components of the engine12 illustrated in FIG. 2 from the sensor 22. For example, the inspectiondevice 20 may be inserted into the high-pressure turbine 48 of the gasturbine engine 12 and the controller 14 may receive three-dimensionaldata of the turbine blades of the high-pressure turbine 48.

Where the sensor 22 comprises a structured-light sensor, the controller14 may store the three-dimensional data in a row and column pixel order(XY order). In particular, the controller 14 may compute thethree-dimensional coordinates of the pixels with projected light usingtriangulation and calibration parameters, and then store thethree-dimensional coordinates in a .csv file using the XY order.

Where the sensor 22 comprises stereo cameras and generates two images,block 82 may further comprise converting the received two-dimensionaldata into three-dimensional data. In particular, the controller 14 mayfind corresponding pixel points between stereo images, and then computethree-dimensional coordinates using triangulation and calibrationparameters. The controller 14 may then store the three-dimensionalcoordinates in a .csv file using a row and column pixel order (XYorder).

Where the sensor 22 additionally comprises a two-dimensional sensor,block 82 may additionally comprise receiving two-dimensional data of theone or more components of the engine 12. The use of this two-dimensionaldata is described in detail later with reference to FIGS. 12, 13 and 14.

At block 84, the method includes determining, during the first period oftime, whether the identified damage exceeds a threshold. In someexamples, the human inspector may determine, using their experience andknowledge, whether the identified damage is acceptable or not foroperation on the aircraft 34. For example, where the human inspectoridentifies damage to turbine blades of the high-pressure turbine 48 atblock 80, he or she may, at block 84, determine whether the identifieddamage is acceptable or not for operation using his or her experienceand knowledge.

At block 86, the method includes providing instructions to release theaircraft for operation in a second period of time, subsequent to thefirst period of time, if the identified damage does not exceed thethreshold. In some examples, the human inspector may provideinstructions to enable the control tower to release the aircraft 34 foroperation in a second period of time. For example, where the humaninspector determines, at block 84, that the identified damage to theturbine blades of the high-pressure turbine 48 is acceptable foroperation, he may provide instructions to enable the aircraft 34 to bereleased for operation.

It should be appreciated that the ‘second period of time’ is a period oftime in which the engine 12 and the aircraft 34 are operational andcleared for flight by the control tower of the airport. Consequently,the second period of time may include one or more periods of time inwhich the aircraft 34 is airborne and in which the aircraft 34 may becarrying humans and/or cargo.

At block 88, the method includes inspecting the receivedthree-dimensional data during the second period of time to measuredamage received by the one or more components. Block 88 may be performedby the controller 14. In some examples, block 88 is performedautomatically by the controller 14 in response to receiving thethree-dimensional data. In other examples, a human operator may initiatethe inspection of the received three-dimensional data by operating theuser input device 16 and block 88 may be performed by the controller 14in response to receiving a signal from the user input device 16.

Block 88 may be performed in accordance with any of the methodsillustrated in FIGS. 8, 12, 13 and 14 and these are described in detaillater in the detailed description. Furthermore, blocks 80, 84 and 86 maybe performed by the controller 14 in some examples.

FIG. 6 illustrates a time line diagram of the first method of inspectingan engine. The time line diagram comprises a horizontal axis 90 for timeand blocks 80, 82, 84, 86 and 88 positioned along the horizontal axis90. The first period of time is defined between a time t₀ and a time t₁.The second period of time is defined between time t₁ and t₃. A thirdperiod of time is defined from time t₃ and is a period of time in whichthe engine 12 may once again be inspected ‘on-wing’ or ‘near-wing’.Similar to the first period of time, the aircraft 34 is not operationalduring the third period of time and is not cleared for flight by thecontrol tower of the airport or repair facility.

The inspection of the received three-dimensional data may be performedduring a predetermined period of time from release of the aircraft 34for operation. For example, the controller 14 may be configured tocomplete block 88 within a period of time defined between time t₁ andtime t₂ (where time t₂ is after time t₁, but before time t₃).

The first period of time and the second period of time are illustratedin FIG. 6 to have a similar duration to aid clarity of the figure. Itshould be appreciated that in most instances, the second period of timeis longer than the first period of time.

The first method may be advantageous in that the aircraft 34 may bereleased for operation earlier than in current methods. In particular,block 80 may be performed relatively quickly because the human inspectormay not carry out detailed measurements on the components of the engine12 (for example, creep of turbine blades) and where they do notdetermine damage above a threshold at block 84, they may instruct theaircraft 34 to be released for operation. The detailed measurements onthe components of the engine 12 may be performed by the controller 14during the second period of time when the aircraft 34 is operational,and may even be in flight. Consequently, the first method may reduceaircraft on ground (AOG) time due to inspection.

FIG. 7 illustrates a time line diagram of a second method of inspectingthe engine 12. The time line diagram of FIG. 7 is similar to the timeline diagram of FIG. 6 and where the features are similar, the samereference numerals are used.

The method illustrated in FIG. 7 differs from the method illustrated inFIG. 6 in that block 88 is performed and completed during the firstperiod of time and prior to block 86. For example, the controller 14 mayinspect the received three-dimensional data to measure the damagereceived by one or more components of the engine 12 in response toreceiving the three-dimensional data at block 82, or may inspect thereceived three-dimensional data to measure damage received by one ormore components of the engine 12 in response to receive a signal fromthe user input device 16.

The method illustrated in FIG. 7 also differs from the methodillustrated in FIG. 6 in that block 86 is only performed when it isdetermined, at blocks 84 and 88, that the damage is below acceptablethresholds of damage.

Similar to FIG. 6, the first period of time and the second period oftime are illustrated in FIG. 7 to have a similar duration to aid clarityof the figure. It should be appreciated that in most instances, thesecond period of time is longer than the first period of time.

The second method may be performed when the controller 14 has sufficientcomputing resources and availability to enable block 88 to be performedwithin an acceptable period of time from the receipt of thethree-dimensional data at block 82. For example, the controller 14 mayselect between the first method and the second method by assessing whatcomputing resources are available upon receipt of the three-dimensionaldata at block 82 and determine whether block 88 may be performed withina predetermined period of time. Where the controller 14 determines thatblock 88 may be performed within the predetermined period of time, thecontroller 14 may perform the second method. Where the controller 14determines that block 88 may not be performed within the predeterminedperiod of time, the controller 14 may perform the first method.

The method illustrated in FIG. 7 is advantageous in that block 88 may beperformed relatively quickly by the controller 14 during the firstperiod of time and thus provide a quick and accurate inspection prior tothe aircraft 34 being released for operation.

FIG. 8 illustrates a flow diagram of a third method of inspecting theengine 12. The third method may be performed in block 88 illustrated inFIGS. 5, 6 and 7.

At block 92, the method includes identifying a feature of the componentusing the received three-dimensional data. As used herein, the word‘feature’ includes any change to the component that degrades thecomponent from its initial state (that is, the ‘feature’ is some form ofdamage and may also be referred to as a ‘damage feature’). FIGS. 9, 10and 11 illustrate three examples of such ‘features’ of a turbine bladeand are described in the following paragraphs in more detail. It shouldbe appreciated that these examples are not exhaustive, and a turbineblade may have different features. Also, it should be appreciated thatother types of components may have different features to thoseillustrated in FIGS. 9, 10 and 11.

FIG. 9 illustrates a side view of a turbine blade 94 according to afirst example. The turbine blade 94 comprises a platform 96, an aerofoil98, and a shroud 100. The aerofoil 98 defines a plurality of coolingholes 102 and has a leading edge 104 and a trailing edge 106. Theturbine blade 94 comprises a feature 108 which is, in this example, acrack that extends between adjacent cooling holes 102 near the leadingedge 104 of the aerofoil 98. The measurable dimensions of the crack 108include length, width and depth.

FIG. 10 illustrates a side view of a turbine blade 110 according to asecond example. The turbine blade 110 is similar to the turbine blade 94and where the features are similar, the same reference numerals areused.

The turbine blade 110 comprises a feature 112 which is, in this example,erosion that extends along the leading edge 104 and towards the trailingedge 106. The erosion 112 is defined by the removal of surface materialof the turbine blade 94 and may include a plurality of cavities 114 thatextend into the aerofoil 98. The measurable dimensions of the erosion112 include length, width, surface area of erosion, and depth of theeroded area relative to an uneroded area.

FIG. 11 illustrates a side view of a turbine blade 116 according to athird example. The turbine blade 116 is similar to the turbine blades 94and 110 and where the features are similar, the same reference numeralsare used.

The turbine blade 116 comprises a feature 118 which is, in this example,creep of the turbine blade 116. The creep 118 may be defined by theelongation of the aerofoil 98 and may be measured by measuring thedistance L₁ between the platform 96 and the shroud 100 at the trailingedge 106 and subtracting the distance L₂ of the aerofoil 98. L₂ may bethe distance between the platform 96 and the shroud 100 aftermanufacture of the turbine blade 116, but before use of the turbineblade 116 in the engine 12 (that is, the initial state of the turbineblade 116). Alternatively, L₂ may be the designed distance between theplatform 96 and the shroud 100 (that is, the distance in the computeraided design (CAD) model of the turbine blade 116).

The creep 118 may additionally or alternatively be defined by theaerofoil 98 twisting through an angle about the longitudinal axis of theturbine blade 116 (where the longitudinal axis extends between, and isperpendicular to, the platform 96 and the shroud 100).

Returning to FIG. 8, in some examples, the feature to be identified maybe predetermined by the controller 14. In other words, the controller 14may be pre-configured to identify a feature of the component and thecontroller 14 requires no further input to determine the feature to beidentified. In other examples, the controller 14 may control the display18 to display a plurality of features and a user may operate the userinput device 16 to select one or more of the displayed features to beidentified.

The controller 14 may use any suitable method or methods for identifyinga feature. For example, the controller 14 may use any one or more of:CAD alignment/registration, Procrustes analysis, iterative closest point(IPC) registration, random sample consensus (RANSAC), plane matching,point cloud segmentation, and machine learning to identify a feature.

At block 120, the method includes determining coordinates of theidentified feature in the three-dimensional data. In some examples, thecontroller 14 may determine the coordinates of the identified feature bydetermining the coordinates of the perimeter of the identified featurein the received three-dimensional data.

At block 122, the method includes measuring a parameter of the featureof the component using the determined coordinates of the feature in thethree-dimensional data. As used herein, a ‘parameter’ includes physicaldimensions of a feature (length, width and so on for example), thenumber of features, the density of features, and the spacing betweenfeatures. In some examples, block 122 may include measuring a pluralityof parameters of the feature using the determined coordinates of thefeature in the three-dimensional data.

The controller 14 may measure at least one of: one or more angles, oneor more lengths, an area, a volume of the identified feature, the numberof identified features, the density of identified features, and thespacing between features, using the determined coordinates. In order toperform the measurement(s), the controller 14 may perform point cloudprocessing (such as RANSAC, three-dimensional object matching), CADalignment with a model of the component, and/or point cloud stitching.

Taking FIG. 9 as an example, the controller 14 may use the determinedcoordinates of the crack 108 to measure the length, the width and thedepth of the crack 108 in the aerofoil 98. Considering FIG. 10, thecontroller 14 may use the determined coordinates of the eroded portion112 to measure the surface area and depth of the eroded portion 112 ofthe aerofoil 98. The controller 14 may also use the determinedcoordinates to determine the depth and diameter of the cavities 114.Turning to FIG. 11, the controller 14 may use the determined coordinatesto measure the length L₁ and then determine the creep of the turbineblade 116 by subtracting L₂ from L₁.

At block 122, the method may additionally include controlling storage ofthe measured parameter or parameters in a dataset 123 in the memory 26.

FIG. 12 illustrates a flow diagram of a fourth method of inspecting theengine 12. The controller 14 may perform the fourth method where thesensor 22 comprises a two-dimensional sensor and a three-dimensionalsensor. The fourth method illustrated in FIG. 12 is similar to the firstmethod illustrated in FIG. 5 and to the third method illustrated in FIG.8 and where the blocks are similar, the same reference numerals areused.

At block 82, the method includes receiving data comprisingtwo-dimensional data and three-dimensional data of one or morecomponents of the engine 12. For example, the controller 14 may receivea .jpg file (two-dimensional data) from a camera of the sensor 22 of oneor more components of the engine 12 and a .csv file (three-dimensionaldata) from a structured light sensor of the sensor 22 of the same one ormore components of the engine 12.

At block 124, the method includes identifying a feature of the one ormore components using the two-dimensional data. For example, thecontroller 14 may use any suitable technique for identifying a featurein the .jpg file received at block 82. Suitable techniques includecorrelation, matching, texture analysis, and artificial intelligence (adeep learning neural network for example).

At block 126, the method includes determining coordinates of theidentified feature in the two-dimensional data. For example, thecontroller 14 may determine the coordinates of each pixel of the featureidentified in block 124 in the .jpg file.

At block 128, the method includes determining coordinates of theidentified feature in the received three-dimensional data using: thedetermined coordinates of the identified feature in the two-dimensionaldata; and the predetermined transformation algorithm 29. For example,the controller 14 may calculate the coordinates of the identifiedfeature in the received three-dimensional data by applying thetransformation algorithm 29 to the two-dimensional coordinates of thefeature determined at block 126.

The fourth method then moves to block 122 and includes measuring one ormore parameters of the identified feature of the component using thecoordinates of the identified feature in the three-dimensional data. Thefourth method may also include controlling storage of the measured oneor more parameters at block 122.

The fourth method may be advantageous where the controller 14 has ahigher probability of identifying a feature in the two-dimensional datathan in the three-dimensional data. For example, some features (such aserosion) may be relatively challenging for the controller 14 to identifyin the three-dimensional data because the change in coordinates(relative to the original state of the component) may be small. However,such features may readily identifiable in the two-dimensional data bythe controller 14 due to a change in colour or pattern.

FIG. 13 illustrates a flow diagram of a fifth method of inspecting theengine 12. The fifth method is similar to the first method illustratedin FIG. 5, the third method illustrated in FIG. 8, and the fourth methodillustrated in FIG. 12, and where the blocks are similar, the samereference numerals are used.

At block 82, the fifth method includes receiving data comprisingtwo-dimensional data and three-dimensional data of the component of theengine 12. The fifth method then moves to block 92 and includesidentifying a feature of the component of the engine 12 using thereceived three-dimensional data.

At block 130, the fifth method includes determining coordinates in thethree-dimensional data of a first volume bounding the coordinates of thefeature. In some examples, the first volume may be defined by thethree-dimensional perimeter of the identified feature. In otherexamples, the first volume may be defined by a three-dimensional regionof interest which encompasses the three-dimensional coordinates of theidentified feature. The region of interest may be identified using athree-dimensional (CAD) model of the component stored in the memory 26to assist in the identification of the sub-component that comprises theidentified feature.

The fifth method then moves to block 132 and includes determiningcoordinates of a first area in the two-dimensional data corresponding tothe first volume using: the determined coordinates of the first volumein the three-dimensional data; and the predetermined transformationalgorithm 29. For example, the controller 14 may calculate thecoordinates of the first area by applying the transformation algorithm29 to the determined coordinates of the first volume.

At block 134, the fifth method includes identifying a feature of thecomponent using a subset of the two-dimensional data corresponding tothe first area. For example, where the two-dimensional data received atblock 82 comprises a 1920 pixel by 1080 pixel image and the feature iserosion, the subset of data corresponding to the first area hascoordinates of 200 to 500 on the horizontal (X) axis and coordinates of600 to 800 on the vertical axis (Y). The controller 14 may performfeature analysis and identification as described above with reference toblock 124 on this subset of the two-dimensional data.

It should be appreciated that block 134 is likely to identify the samefeature as the feature identified at block 92, but may identifyadditional features since the analysis is performed on two-dimensionaldata, whereas block 134 is performed on three-dimensional data. Forexample, the controller 14 may identify an eroded portion 112 of anaerofoil 98 at block 92, and may identify the eroded portion 112 and acrack at block 134.

The fifth method then moves to block 126 and includes determiningcoordinates of the feature identified at block 134 in thetwo-dimensional data.

At block 128, the fifth method includes determining coordinates of thefeature identified at block 134 in the three-dimensional data using: thecoordinates of the feature in the two-dimensional data determined atblock 126; and the predetermined transformation algorithm 29.

The fifth method then moves to block 122 and includes measuring one ormore parameters of the feature identified at block 134 using thethree-dimensional coordinates of the feature determined at block 128.The fifth method may also comprise controlling storage of the measuredone or more parameters at block 122.

The fifth method may advantageously increase the probability ofidentifying a feature of a component of the engine 12 because featureanalysis and identification is performed on both the two-dimensionaldata and three-dimensional data received at block 82.

FIG. 14 illustrates a sixth method of inspecting the engine 12. Thesixth method is similar to the first method illustrated in FIG. 5, thethird method illustrated in FIG. 8, the fourth method illustrated inFIG. 12, and the fifth method illustrated in FIG. 13 and where theblocks are similar, the same reference numerals are used.

At block 82, the method includes receiving data comprisingtwo-dimensional data and three-dimensional data of the engine 12.

The sixth method then moves to block 136 and includes identifying asecond area using the two-dimensional data of the component of theengine 12. The second area excludes predetermined components and/orpredetermined sub-components of the engine 12 within the two-dimensionaldata. For the example, the controller 14 may be configured to identifycracks 108 in the aerofoil 98 (either pre-configured or user-configuredas described above) and may exclude the platform 96 and the shroud 100(which are sub-components of the turbine blade 94, 110, 116). Where thetwo-dimensional data comprises data on other components (such as astator blade for example), the controller 14 may exclude such componentsfrom the second area at block 136.

At block 138, the sixth method includes determining coordinates of asecond volume in the three-dimensional data corresponding to the secondarea using:

the determined coordinates of the second area in the two-dimensionaldata; and the predetermined transformation algorithm 29. For example,the controller 14 may apply the transformation algorithm 29 to thetwo-dimensional coordinates of the second area determined at block 136to calculate the coordinates of the second volume in thethree-dimensional data.

The sixth method then moves to block 140 and includes identifying afeature of the component using a subset of the three-dimensional datacorresponding to the second volume calculated at block 138. It should beappreciated that block 140 is similar to block 92 in the third methodillustrated in FIG. 8 and in the fifth method illustrated in FIG. 13,but differs in that feature analysis and identification is onlyperformed on a subset of the three-dimensional data (that is, thethree-dimensional data that corresponds to the second volume).

The sixth method then moves through blocks 130, 132, 134, 126, 128 and122 to provide a measurement of one or more parameters of the identifiedfeature of the component. The sixth method may also include controllingstorage of the measured one or more parameters at block 122.

The sixth method may be advantageous in that the analysis of thetwo-dimensional data to remove irrelevant data (at blocks 136 and 138)may increase the efficiency of the analysis of the three-dimensionaldata (at block 140). This may reduce the time taken by the controller 14to perform block 140, and/or may enable a reduction in the use of thecomputational resources of the controller 14.

The methods illustrated in FIGS. 8, 12, 13 and 14 may be advantageous inthat the stored measured parameter or parameters 123 may be used todetermine the condition of a component and schedule the next inspection(and potential repair or replacement) of the component.

It will be understood that the invention is not limited to theembodiments above-described and various modifications and improvementscan be made without departing from the concepts described herein. Forexample, the different embodiments may take the form of an entirelyhardware embodiment, an entirely software embodiment, or an embodimentcontaining both hardware and software elements.

The methods illustrated in FIGS. 8, 12, 13 and 14 are described above interms of identifying and measuring a single feature of a singlecomponent. It should be appreciated that these methods may also be usedto identify and measure a plurality of features on a single component.Furthermore, these methods may be used to identify a plurality offeatures across a plurality of components (where a single component mayhave one or more features).

In some examples, block 82 may only comprise receiving two-dimensionaldata of one or more components of the engine 12, and block 88 comprisesinspecting the received two-dimensional data during the second period oftime to measure damage. In these examples, the controller 14 may use thetechniques mentioned above with reference to block 124 to identify oneor more features in the two-dimensional data and may measure one or moreparameters of those features using the two-dimensional data.

In some examples, the method illustrated in FIG. 5 and described abovemay be performed for engines that are not associated with an aircraft(such industrial gas turbines). In these examples, the first period oftime is an inspection phase for the engine (where the engine isnon-operational), and the second period of time is an operational phasefor the engine. Furthermore, the method illustrated in FIG. 5 may beperformed for any industrial system (an oil and gas facility forexample) where the first period of time is an inspection phase for theindustrial system (where the industrial system is non-operational), andthe second period of time is an operational phase for the industrialsystem.

Except where mutually exclusive, any of the features may be employedseparately or in combination with any other features and the disclosureextends to and includes all combinations and sub-combinations of one ormore features described herein.

We claim:
 1. A computer-implemented method comprising: receiving datacomprising two-dimensional data and three-dimensional data of acomponent of an engine; identifying a feature of the component using thetwo-dimensional data; determining coordinates of the feature in thetwo-dimensional data; determining coordinates of the feature in thethree-dimensional data using: the determined coordinates of the featurein the two-dimensional data; and a pre-determined transformation betweencoordinates in two-dimensional data and coordinates in three-dimensionaldata; and measuring a parameter of the feature of the component usingthe determined coordinates of the feature in the three-dimensional data.2. A computer-implemented method as claimed in claim 1, wherein prior toidentifying the feature of the component, the method further comprises:identifying the feature of the component using the three-dimensionaldata; determining coordinates in the three-dimensional data of a firstvolume bounding the coordinates of the feature; determining coordinatesof a first area in the two-dimensional data corresponding to the firstvolume using: the determined coordinates of the first volume in thethree-dimensional data; and the predetermined transformation.
 3. Acomputer-implemented method as claimed in claim 2, wherein identifyingthe feature of the component using the two-dimensional data comprisesusing a subset of the two-dimensional data corresponding to the firstarea.
 4. A computer-implemented method as claimed in claim 2, whereindetermining coordinates in the three-dimensional data of the firstvolume comprises: identifying the first volume in the three-dimensionaldata using: the identified feature of the component; and athree-dimensional model of the component.
 5. A computer-implementedmethod as claimed in claim 2, wherein prior to identifying the featureof the component using the three-dimensional data, the method furthercomprises: identifying a second area using the two-dimensional data ofthe component, the second area excluding predetermined components and/orpredetermined sub-components of the engine within the two-dimensionaldata; determining coordinates of a second volume in thethree-dimensional data corresponding to the second area using: thedetermined coordinates of the second area in the two-dimensional data;and the predetermined transformation.
 6. A computer-implemented methodas claimed in claim 5, wherein identifying the feature of the componentusing the three-dimensional data comprises: identifying the feature ofthe component using a subset of the three-dimensional data correspondingto the second volume.
 7. A computer-implemented method as claimed inclaim 1, further comprising: controlling storage of the measuredparameter.
 8. A computer-implemented method as claimed in claim 1,wherein the engine is associated with an aircraft, and the data isgenerated during a first period of time in which the aircraft is notreleased for operation.
 9. A computer-implemented method as claimed inclaim 8, wherein the computer-implemented method is performed during asecond period of time in which the aircraft is released for operation.10. A computer-implemented method as claimed in claim 1, wherein thecomputer-implemented method is performed automatically in response toreceiving the data.
 11. A computer-implemented method as claimed inclaim 10, wherein the computer-implemented method is performed withouthuman intervention.
 12. A computer program that, when executed by acomputer, causes the computer to perform the computer-implemented methodas claimed in claim
 1. 13. A non-transitory computer readable storagemedium comprising computer readable instructions that, when executed bya computer, causes the computer to perform the computer-implementedmethod as claimed in claim
 1. 14. An apparatus comprising: a controllerconfigured to perform the computer-implemented method as claimed inclaim 1.